Baumer EAM ST Series Handbuch - Seite 7

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4 System Overview

4.1

General

The encoder is a rotary measuring system with a CANopen interface. It supports scaling and presetting.

In consideration of "CAN in Automation" (CiA) Profile 406 for Encoders, it's an Absolute rotary encoder - Class C2.

The redundant encoders are galvanically isolated, for non-redundant encoders galvanical isolation on request.

4.2

Supported Profiles

Following CANopen profiles are supported:



CiA 301 / Version 4.1 (Communication)



CiA 305 / Version 1.0 (LSS)



CiA 406 / Version 3.2 (Encoder Profile)

4.3

Supported CANopen Services

Following CANopen services are supported:



1 Network Management (according to CiA 301)



1 SDO Server (according to CiA 301)



2 TPDOs (according to CiA 301/CiA 406)



1 Emergency Producer (according to CiA 301/CiA 406)



1 Heartbeat Producer (according to CiA 301)



1 Node guarding (according to CiA 301)



1 LSS Client (according to CiA 305)

4.4

Function Principle

Overview

4.4.1

Figure 1: Function principle overview

Physical

[Inc]

Position

Scaling

4.4.2

The scaling of speed and position objects can be adapted in the object 6001h or object 6002h.

Relationship between object 6001h and 6002h:

Total measuring range

(Value Object 6002h)

Baumer_EAM580_360_CANopen_MA_EN_Rev0003.0000h_Index0004.docx

06.08.2018

Direction

User Zero Point

[Inc]

Correction

[Inc]

Measuring units per revolution

(Value Object 6001h)

[Inc]

(Offset)

Speed

[Inc/s]

Calculating

Number of distinguishable revolutions

(Value Object 6502h)

7/28

Scaling

[Steps]

Scaling

[Steps/s]

Baumer Electric AG

Frauenfeld, Switzerland